On the ability of a cable-driven robot to generate a prescribed set of wrenches
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The document summarizes research into using a cable-driven robot to generate different wrenches (forces and torques) at a platform. It discusses representing the set of all possible wrenches (A) using zonotopes and different algorithms like convex hull and hyperplane shifting to calculate A from the cable tensions (T). The goal is to enable the robot to perform different tasks by generating the required wrenches through varying cable tensions while considering the robot's degrees of freedom and constraints.
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![ON THE ABILITY OF A CABLE-DRIVEN ROBOT TO GENERATE A PRESCRIBED SET OF WRENCHES (DETC2008-49518) Samuel Bouchard, Clément Gosselin, Brian Moore [email_address] [email_address] [email_address] ASME IDETC-CIE August 6th 2008, New York City](https://image.slidesharecdn.com/presentationasme2008-1218136872534218-8/85/On-the-ability-of-a-cable-driven-robot-to-generate-a-prescribed-set-of-wrenches-1-320.jpg)
![Objective ,[object Object],[object Object],[object Object],[object Object]](data:image/gif;base64,R0lGODlhAQABAIAAAAAAAP///yH5BAEAAAAALAAAAAABAAEAAAIBRAA7)
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N Herbots Us Patent6613667
N. Herbots' CIMD Clean Room Lab
http://ceaspub.eas.asu.edu/phy132/herbots.htm
US Patents 6,613,677 (9/2/03), 5,241,214, 4,800,100
IBeam User facility where CIMD lab is located
http://www.ibeam.asu.edu/
Class web page:
PHY 121 http://phyastweb.la.asu.edu/classes/phy121-herbots/
PHY 131 http://phyastweb.la.asu.edu/phy131-herbots/
PHY 334 http://phyastweb.la.asu.edu/phy334-herbots/
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On the ability of a cable-driven robot to generate a prescribed set of wrenches
- 1. ON THE ABILITY OF A CABLE-DRIVEN ROBOT TO GENERATE A PRESCRIBED SET OF WRENCHES (DETC2008-49518) Samuel Bouchard, Clément Gosselin, Brian Moore [email_address] [email_address] [email_address] ASME IDETC-CIE August 6th 2008, New York City
- 3. Different wrenches for different tasks Skycam Photo: jamd.com Tokyo University Wire Haptic Interface Photo: Prof. Takeda, Tokyo Institute of Technology
- 8. Nature of A
- 11. Zonotope, definition 3 A
- 13. A in the litterature [Pham et al., 2005] [Bosscher et al.,2004]
- 16. Algorithms No H Hyperplane shifting Yes H or V Convex hull Iterative? Representations Method
- 17. Convex Hull